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International Conference on Unmanned Aircraft systems (ICUAS)

作者： A. Namigtle-Jimenez J.U. Alvarez-Munoz J. Diaz-Tellez R. Enriquez-Caldera J. Escareno S. Durand N. Marchand J.F. Guerrero-Castellanos Óptica y Electrónica Electronics Department Instituto Nacional de Astrofísica Puebla Mexico Institut Polytechnique de Sciences Avancées Ivry-sur-Seine France Instituto Tecnólogico de Puebla. Av. Tecnológico Puebla Robotics and Mechatronics Department XLIM Research Institute UMR-CNRS University of Limoges France ICube Laboratory INSA Strasbourg Strasbourg Univeristy CNRS Strasbourg France GIPSA-Lab Laboratory Control Systems Department CNRS Grenoble Univeristy Grenoble France Benémerita Universidad Autónoma de Puebla Faculty of Electronics Ciudad Universitaria Puebla Mexico

This paper presents the trajectory-tracking control of a Vertical Take-off and Landing (VTOL) rotorcraft endowing a two Degrees of Freedom (DoFs) manipulator arm. The research considers endogenous (parametric) and exogenous (external disturbances) uncertainties as lumped disturbance, which is estimated via an Extended-State Observer (ESO). A feedback controller is synthesized through the control Lyapunov Function (CLF) aided by feedforward terms composed of the ESO estimates. The compound system, the rotorcraft, and the manipulator dynamics are mathematically modeled based on the energy-based Euler-Lagrange (EL) formalism. The system’s stability is analyzed within the Input-State Stability (ISS) framework, guaranteeing closed-loop stability for the overall design (controller-ESO-UAV+arm). Results from an extensive simulation stage prove the effectiveness of the proposed control strategy.

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Modelling a project for the development of a neurocomputer interface based on EMG

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IOP Conference Series: Materials Science and Engineering 2020年第1期940卷

作者： S A Gavrilov A S Kyzdarbekova S S Reznikov E A Kobets N N Gorlushkina ITMO University Kronverksky pr. 49 St. Petersburg Russian Federation 197101 ITMO University Megafaculty of Computer Technologies and Control Faculty of Control Systems and Robotics Kronverksky pr. 49 St. Petersburg Russian Federation 197101 ITMO University Megafaculty of Translational Information Technologies Faculty of Infocommunication Technologies Exchange line 14-16 St. Petersburg Russian Federation 199034

Currently, around the world, various neurocomputer interfaces (NCI) are being actively developed for controlling prostheses, exoskeletons, robots, for interacting with virtual reality, for rehabilitation medicine, and even for professional sports. Development and research in the field of rehabilitation medicine will help partially and fully restore the functional capabilities of people with amputation or congenital defects of the limbs. Thus, the purpose of this work is to review the methods of recording the control signals of bionic devices based on the analysis of physiological and nervous processes in humans and modeling of a project for developing a neurocomputer interface based on EMG using flexible methods of project management. In this regard, first of all, it is interesting to develop a sensor and controller for further use in systems of robotic prostheses. At the moment, the design of the project using flexible methods of project management has been made and the first prototype with five channels for connecting sensors and a USB interface for communication with a personal computer has been manufactured. Also was made the first prototype with 5 channels for connecting sensors and a USB interface for communication with a personal computer.

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Preface

Lecture Notes in Networks and Systems

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Lecture Notes in Networks and systems 2024年 1076 LNNS卷 v-vii页

作者： Biele, Cezary Kacprzyk, Janusz Kopeć, Wieslaw Możaryn, Jakub Owsiński, Jan W. Romanowski, Andrzej Sikorski, Marcin National Information Processing Institute Warszaw Poland Polish Academy of Sciences Systems Research Institute Warsaw Poland Polish-Japanese Academy of Information Technology Warsaw Poland Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland Institute of Applied Computer Science Faculty of Electrical Electronic Computer and Control Engineering Lódż University of Technology LODZ Poland Department of Applied Informatics in Management Faculty of Management and Economics Gdańsk University of Technology Gdańsk Poland

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New results on parameter estimation via dynamic regressor extension and mixing: Continuous and discrete-time cases

arXiv

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arXiv 2019年

作者： Ortega, Romeo Aranovskiy, Stanislav Pyrkin, Anton A. Astolfi, Alessandro Bobtsov, Alexey A. Laboratoire des Signaux et Systèmes CNRS-SUPELEC Plateau du Moulon Gif-sur-Yvette91192 France ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia CentraleSupélec - IETR Avenue de la Boulaie Cesson-Sévigné35576 France Hangzhou Dianzi University Hangzhou310018 China Faculty of Control Systems and Robotics ITMO University Kronverkskiy av. 49 St. Petersburg197101 Russia Department of Electrical and Electronic Engineering Imperial College London LondonSW7 2AZ United Kingdom DICII Universita di Roma "Tor Vergata" Via del Politecnico 1 Roma00133 Italy

We present some new results on the dynamic regressor extension and mixing parameter estimators for linear regression models recently proposed in the literature. This technique has proven instrumental in the solution of several open problems in system identification and adaptive control. The new results include: (i) a unified treatment of the continuous and the discrete-time cases;(ii) the proposal of two new extended regressor matrices, one which guarantees a quantifiable transient performance improvement, and the other exponential convergence under conditions that are strictly weaker than regressor persistence of excitation;and (iii) an alternative estimator ensuring parameter estimation in finite-time that retains its alertness to track time-varying parameters. Simulations that illustrate our results are also presented. Copyright © 2019, The Authors. All rights reserved.

关键词： Adaptive control systems

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Recognition of patient groups with sleep related disorders using bio-signal processing and deep learning

arXiv

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arXiv 2021年

作者： Jarchi, Delaram Andreu-Perez, Javier Kiani, Mehrin Vysata, Oldrich Kuchynka, Jiri Prochazka, Ales Sanei, Saeid Smart Health Technologies Group School of Computer Science and Electronic Engineering University of Essex ColchesterCO4 3SQ United Kingdom Embedded and Intelligent Systems Laboratory School of Computer Science and Electronics University of Essex ColchesterCO4 3SQ United Kingdom Department of Computing and Control Engineering University of Chemistry and Technology in Prague Prague 6166 28 Czech Republic Department of Neurology Faculty of Medicine in Hradec Králové Charles University Hradec Králové500 05 Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Prague 6160 00 Czech Republic School of Science and Technology Nottingham Trent University NottinghamNG11 8NS United Kingdom

Accurately diagnosing sleep disorders is essential for clinical assessments and treatments. Polysomnography (PSG) has long been used for detection of various sleep disorders. In this research, electrocardiography (ECG) and electromayography (EMG) have been used for recognition of breathing and movement-related sleep disorders. Bio-signal processing has been performed by extracting EMG features exploiting entropy and statistical moments, in addition to developing an iterative pulse peak detection algorithm using synchrosqueezed wavelet transform (SSWT) for reliable extraction of heart rate and breathing-related features from ECG. A deep learning framework has been designed to incorporate EMG and ECG features. The framework has been used to classify four groups: healthy subjects, patients with obstructive sleep apnea (OSA), patients with restless leg syndrome (RLS) and patients with both OSA and RLS. The proposed deep learning framework produced a mean accuracy of 72% and weighted F1 score of 0.57 across subjects for our formulated four-class problem. © 2021, CC BY-NC-ND.

关键词： Wavelet transforms

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Awareness in robotics: An early perspective from the viewpoint of the EIC Pathfinder Challenge "Awareness Inside"

arXiv

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arXiv 2024年

作者： Santina, Cosimo Della Corbato, Carlos Hernandez Sisman, Burak Leiva, Luis A. Arapakis, Ioannis Vakalellis, Michalis Vanderdonckt, Jean D’Haro, LuisFernando Manzi, Guido Becchio, Cristina Elamrani, Aïda Alirezaei, Mohsen Castellano, Ginevra Dimarogonas, Dimos V. Ghosh, Arabinda Haesaert, Sofie Soudjani, Sadegh Stroeve, Sybert Verschure, Paul Bacciu, Davide Deroy, Ophelia Bahrami, Bahador Gallicchio, Claudio Hauert, Sabine Sanz, Ricardo Lanillos, Pablo Iacca, Giovanni Sigg, Stephan Gasulla, Manel Steels, Luc Sierra, Carles Department of Cognitive Robotics Delft University of Technology Delft Netherlands Oberpfaffenhofen Germany Department of Computer Science University of Luxembourg Luxembourg 4 Telefónica I+D Spain AEGIS IT Research GmbH Germany Université catholique de Louvain Belgium Speech Technology and Machine Learning Group ETSI de Telecomunicación Universidad Politécnica de Madrid Madrid Spain Alien Venture Studio Alien Technology Transfer Rome Italy Hamburg Germany Institut Jean Nicod École Normale Supérieure Paris France Research Technology and Development Department Digital Industry Software Helmond Netherlands Department of Information Technology Uppsala University Uppsala Sweden Division of Decision and Control Systems School of Electrical Engineering and Computer Science KTH Royal Institute of Technology Stockholm Sweden Max Planck Institute for Software Systems Kaiserslautern Germany Department of Electrical Engineering Control Systems Group Eindhoven University of Technology Eindhoven Netherlands Amsterdam Netherlands Donders Centre for Neuroscience Radboud University Nijmegen Netherlands Computer Science Department University of Pisa Pisa Italy Faculty of Philosophy Philosophy of Science The Study of Religion Ludwig Maximilian University of Munich Munich Germany School of Engineering Mathematics and Technology University of Bristol Bristol United Kingdom Autonomous Systems Laboratory Universidad Politécnica de Madrid Spain Madrid Spain Department of Information Engineering and Computer Science University of Trento Trento Italy Department of Information and Communications Engineering Aalto University Espoo Finland Department of Electronic Engineering Universitat Politècnica de Catalunya Barcelona Spain Studio Stelluti Brussels Belgium Barcelona Spain

Consciousness has been historically a heavily debated topic in engineering, science, and philosophy. On the contrary, awareness had less success in raising the interest of scholars in the past. However, things are changing as more and more researchers are getting interested in answering questions concerning what awareness is and how it can be artificially generated. The landscape is rapidly evolving, with multiple voices and interpretations of the concept being conceived and techniques being developed. The goal of this paper is to summarize and discuss the ones among these voices that are connected with projects funded by the EIC Pathfinder Challenge called "Awareness Inside", a nonrecurring call for proposals within Horizon Europe that was designed specifically for fostering research on natural and synthetic awareness. In this perspective, we dedicate special attention to challenges and promises of applying synthetic awareness in robotics, as the development of mature techniques in this new field is expected to have a special impact on generating more capable and trustworthy embodied systems. © 2024, CC BY.

关键词： robotics

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Corrigendum to `Parallel machine scheduling and common due window assignment with job independent earliness and tardiness costs' [Information Sciences, 224 (2013) 109–117]

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Information Sciences 2016年 357卷 217-217页

作者： Adam Janiak Władysław Janiak Mikhail Y. Kovalyov Erhan Kozan Erwin Pesch Institute of Computer Engineering Control and Robotics Wroclaw University of Technology 11/17 Janiszewskiego Str. 50-372 Wroclaw Poland Faculty of Computer Science and Management Wroclaw University of Technology 5 Lukasiewicza Str. 50-373 Wroclaw Poland United Institute of Informatics Problems National Academy of Sciences of Belarus Surganova 6 2200120 Minsk Belarus School of Mathematical Sciences QUT GPO Box 2434 Brisbane Qld 4001 Australia Institute of Information Systems University of Siegen 57068 Siegen Germany

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LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR control

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Asian Journal of control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

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Study of surface processes of functionalized composite structures por-Si/Ag by the method of edge wet angle

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Journal of Physics: Conference Series 2020年第1期1658卷

作者： V L Koshevoi A V Timchenko I M Pleshanov R S Denisenko S S Bazylo A O Belorus Department of General and Technical Physics Saint Petersburg Mining University 2 21st Line Saint Petersburg Russia Institute of Environmental Management Urban Development and Spatial Planning Immanuel Kant Baltic Federal University 14 A. Nevskogo st. Kaliningrad Russia Faculty of photonics and optical information Saint Petersburg National Research University of Information Technologies Mechanics and Optics (ITMO) Kronversky pr. 49 Saint Petersburg Russia Faculty of Control Systems and Robotics Saint Petersburg National Research University of Information Technologies Mechanics and Optics (ITMO) Kronversky pr. 49 Saint Petersburg Russia Odintsovo branch of the Federal State Autonomous Educational Institution of Higher Education 'Moscow State Institute of International Relations (University) of the Ministry of Foreign Affairs of the Russian Federation st. Novo-Sportivnaya 3 Odintsovo Russia Department of Micro- and Nanoelectronics Saint Petersburg Electrotechnical University 'LETI' st. Professora Popova 5 Saint Petersburg Russia

In this work, we studied the functionalized por-Si/Ag composite structures by the contact angle method using the 'Contact Angle Measurement System JGW-360A'. The hydrophobic / hydrophilic properties of the studied structures were analyzed. Were studied changes in surface functional groups with various functionalization methods. Wetting gulls were also determined for different series of samples: porous silicon (θ ≈ 580), a porous matrix with a silver layer (θ ≈ 340), and a porous matrix functionalized by electro-thermal diffusion (θ ≈ 410). Were drawn the conclusions about the effect of oxide phases on the hydrophobic/hydrophilic properties of the studied samples.

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SUPER-HEURISTICS AND THEIR APPLICATIONS TO COMBINATORIAL PROBLEMS

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Asian Journal of control 2008年第1期1卷

作者： Tak Wing Edward Lau Yu-Chi Ho Division of Engineering and Applied Sciences Harvard University Cambridge MA02138 U.S.A. Yu-Chi (Larry) Ho received his S.B. and S.M. degrees in Electrical Engineering from M.I.T. and his Ph.D. in Applied Mathematics from Harvard University. Except for three years of full time industrial work he has been on the Harvard Faculty. Since 1969 he has been Gordon McKay Professor of Engineering and Applied Mathematics. In 1988 he was appointed to the T. Jefferson Coolidge Chair in Applied Mathematics and Gordon McKay Yu-Chi (Larry) Ho received his S.B. and S.M. degrees in Electrical Engineering from M.I.T. and his Ph.D. in Applied Mathematics from Harvard University. Except for three years of full time industrial work he has been on the Harvard Faculty. Since 1969 he has been Gordon McKay Professor of Engineering and Applied Mathematics. In 1988 he was appointed to the T. Jefferson Coolidge Chair in Applied Mathematics and Gordon McKay Professor of Engineering at Harvard and as visiting professor to the Cockrell Family Regent's Chair in Engineering at the University of Texas Austin. He has published over 120 articles and three books one of which (co-authored with A.E. Bryson Jr.) has been translated into both Russian and Chinese and made the list of Citation Classics as one of the most referenced works on the subject of optimal control. He is on the editorial boards of several international journals and is the editor-in-chief of the new international Journal on Discrete Event Dynamic Systems. He is the recipient of various fellowships and awards including the Guggenheim (1970) and the IEEE Field Award for Control Engineering and Science (1989) the Chiang Technology Achievement Award (1993). He is a fellow of IEEE a Distinguished Member of the Control Systems Society and a member of the U.S. National Academy of Engineering. In addition to serving on various governmental and industrial panels and professional society administrative bodies he was the President of the IEEE Robotics & Automation Society in 1988

Combinatorial problems are known to be difficult because of the shear size of the solution space and the lack of polynomial time algorithms to “solve” them. Heuristics are often devised to produce acceptable solutions in an affordable time. In this paper, we propose a method called super-heuristic that expands the capabilities of heuristics using randomization and sampling techniques. We submit that heuristics are in general strategies that map from available information of a problem instance to decisions in solution constructions/improvement. We show that it is important to utilize the information effectively in the randomization process. More importantly, the possibility of randomization around a heuristic spells out the demarcation between the roles of human and machines in complex optimization problems.

关键词： Combinatorial problems heuristics randomization and sampling techniques man-machine interactions

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